{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "from arm_control import uarm_control\n",
    "import numpy as np\n",
    "\n",
    "mtx = np.load('../data/camera_param.npz')['mtx']\n",
    "with np.load('../data/eyehand_Matrix.npz') as X:\n",
    "    R, t = [X[i] for i in ('R', 't')]\n",
    "\n",
    "arm = uarm_control.Arm_controller(mtx,R,t)\n",
    "arm.arm_init()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 89,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 89,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "arm.move([200,0,180])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 121,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "WARNING ⚠️ Python 3.7.0 is required by YOLOv5, but Python 3.6.9 is currently installed\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "YOLOv5 🚀 v7.0-116-g5c91dae Python-3.6.9 torch-1.10.0a0+git36449ea CUDA:0 (NVIDIA Tegra X1, 3964MiB)\n",
      "\n",
      "Fusing layers... \n",
      "YOLOv5s_my summary: 157 layers, 7042489 parameters, 0 gradients, 15.9 GFLOPs\n",
      "Adding AutoShape... \n"
     ]
    }
   ],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import torch\n",
    "\n",
    "class Visual_recognition():\n",
    "    def __init__(self,yolo_path,weight_path,conf=0.5):\n",
    "        # 初始化模型\n",
    "        self.model = torch.hub.load(yolo_path, 'custom', path=weight_path, source='local')\n",
    "        self.model.conf = conf\n",
    "        # 设置随机颜色区分目标\n",
    "        self.color = [list(np.random.choice(range(256), size=3)) for i in range(len(self.model.names))]\n",
    "\n",
    "    def image_detect(self, frame):\n",
    "        # 预测结果(输入图像格式为rgb)\n",
    "        results = self.model(frame)\n",
    "        # 绘制框图，并发布图像\n",
    "        print(results)\n",
    "        return self.box_selection(results.pandas().xyxy[0].values, frame)\n",
    "\n",
    "    def box_selection(self, datas, image):\n",
    "        # 转换为opencv图像格式bgr\n",
    "        pub_yolo_data = []\n",
    "        # 遍历数据\n",
    "        for data in datas:\n",
    "            # 发布数据\n",
    "            yolo_data = dict()\n",
    "            yolo_data['class_id'] = data[-2]\n",
    "            yolo_data['class_name'] = data[-1]\n",
    "            yolo_data['xmin'] = data[0]\n",
    "            yolo_data['ymin'] = data[1]\n",
    "            yolo_data['xmax'] = data[2]\n",
    "            yolo_data['ymax'] = data[3]\n",
    "            yolo_data['conf'] = data[-3]\n",
    "            pub_yolo_data.append(yolo_data)\n",
    "            # print(yolo_data)\n",
    "\n",
    "            color = self.color[data[-2]]\n",
    "\n",
    "            # 绘制选择框\n",
    "            cv.rectangle(image, (int(data[0]), int(data[1] - 3)),\n",
    "                         (int(data[2]), int(data[3])),\n",
    "                         (int(color[0]), int(color[1]), int(color[2])),\n",
    "                         4)\n",
    "            # 显示类别名\n",
    "            cv.putText(image, data[-1],\n",
    "                       (int(data[0]), int(data[1]) - 6),\n",
    "                       cv.FONT_HERSHEY_SIMPLEX, 0.6, (int(color[0]), int(color[1]), int(color[2])), 1, cv.LINE_AA)\n",
    "            # 绘制概率\n",
    "            cv.putText(image, str(int(data[-3] * 100) / 100),\n",
    "                       (int(data[0]), int(data[3])),\n",
    "                       cv.FONT_HERSHEY_SIMPLEX, 0.6, (int(color[0]), int(color[1]), int(color[2])), 1, cv.LINE_AA)\n",
    "\n",
    "            cv.circle(image, (int(data[0] + (data[2] - data[0]) / 2), int(data[1] + (data[3] - data[1]) / 2)), 2,\n",
    "                      (int(color[0]), int(color[1]), int(color[2])), 2)\n",
    "\n",
    "        # cv.imshow('image',cv.cvtColor(image, cv.COLOR_RGB2BGR))\n",
    "        # cv.waitKey(3)\n",
    "        return image,pub_yolo_data\n",
    "    \n",
    "vr = Visual_recognition(\"/home/fox/yolov5/yolov5\",\"/home/fox/yolov5/yolov5/runs/train/exp20/weights/best.pt\",conf=0.7)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import torch\n",
    "cap = cv.VideoCapture(\"/dev/video0\")\n",
    "cap.set(10,5)\n",
    "while cap.isOpened():\n",
    "    ret,frame = cap.read()\n",
    "    if ret == False:\n",
    "        break\n",
    "    cv.imshow(\"image\",frame)\n",
    "    key = cv.waitKey(10)\n",
    "    if key == 27:\n",
    "        break\n",
    "cap.release()\n",
    "cv.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import os\n",
    "import matplotlib.pyplot as plt\n",
    "from vision import transform\n",
    "import time\n",
    "\n",
    "# # lk算法参数\n",
    "# lk_params = dict(winSize = (15,15),\n",
    "#                  maxLevel = 2,\n",
    "#                  criteria = (cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10, 0.03))\n",
    "mtx = np.load(\"../data/camera_param.npz\")['mtx']\n",
    "tf = transform.Transform(mtx)\n",
    "track = False\n",
    "cap = cv.VideoCapture(\"/dev/video0\")\n",
    "time_ls = []\n",
    "image_ls = []\n",
    "arm.move([200,0,180])\n",
    "action = False\n",
    "while cap.isOpened():\n",
    "    ret,frame = cap.read()\n",
    "    cv.imshow(\"image\",frame)\n",
    "    if action == False:\n",
    "        result = arm.tag_point(frame,8,20)\n",
    "        action = True\n",
    "    else:\n",
    "        image_ls[]\n",
    "        time_ls.append{\n",
    "    if len(result) > 0:\n",
    "        break\n",
    "    key = cv.waitKey(50)\n",
    "    if key == 27:\n",
    "        break\n",
    "cap.release()\n",
    "cv.destroyAllWindows()\n",
    "\n",
    "\n",
    "\n",
    "cap.release()\n",
    "cv.destroyAllWindows()\n",
    "result = arm.tag_point(frame,8,20)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "metadata": {},
   "outputs": [],
   "source": [
    "poin = np.array(point)\n",
    "x = [p[0] for p in point]\n",
    "y = [p[1] for p in point]\n",
    "z = [p[2] for p in point]\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "plt.figure(figsize=(20,10))\n",
    "plt.subplot(131),plt.plot(time_ls,x)\n",
    "plt.subplot(132),plt.plot(time_ls,y)\n",
    "plt.subplot(133),plt.plot(time_ls,z)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 47,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7ea45a47f0>]"
      ]
     },
     "execution_count": 47,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "plt.plot(time_ls,x)\n",
    "plt.plot(time_ls,y)\n",
    "# plt.plot(time_ls,z)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "# v_x= np.polyfit(x, time_ls, 1)[0]\n",
    "# v_y = np.polyfit(y, time_ls, 1)[0]\n",
    "# print(v_x,v_y)\n",
    "# v_x=-4.243116687107898 \n",
    "# v_y = -0.026531939641954994\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 107,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1"
      ]
     },
     "execution_count": 107,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "obj_id"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 147,
   "metadata": {},
   "outputs": [],
   "source": [
    "v_x=-22.243116687107898 \n",
    "v_y = -0.26531939641954994\n",
    "# 有害垃圾\n",
    "hw = [6,9,8]\n",
    "hazardous_waste = arm.make_warehouse([55,-170,10],[1,1,10],[30,30,10])\n",
    "\n",
    "# 可回收垃圾\n",
    "rw = [4,1,0]\n",
    "recyclable_waste = arm.make_warehouse([55,-225,10],[1,1,10],[30,30,10])\n",
    "# 厨余垃圾\n",
    "fw = [2,5,3]\n",
    "food_waste = arm.make_warehouse([1,-170,10],[1,1,10],[30,30,10])\n",
    "# 其他垃圾\n",
    "residual_waste = arm.make_warehouse([1,-225,10],[1,1,10],[30,30,10])\n",
    "hw_i = 0\n",
    "rw_i = 0\n",
    "fw_i = 0\n",
    "ow_i = 0\n",
    "def warehouse(class_name):\n",
    "    global hw_i,rw_i,fw_i,ow_i\n",
    "    if class_name in hw:\n",
    "        dst = hazardous_waste[hw_i]\n",
    "        hw_i += 1\n",
    "        return dst\n",
    "    elif class_name in rw:\n",
    "        dst = recyclable_waste[rw_i]\n",
    "        rw_i += 1\n",
    "        return dst\n",
    "    elif class_name in fw:\n",
    "        dst = food_waste[fw_i]\n",
    "        fw_i += 1\n",
    "        return dst\n",
    "    else:\n",
    "        dst = residual_waste[ow_i]\n",
    "        ow_i += 1\n",
    "        return dst\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 148,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.2ms pre-process, 127.0ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.2ms pre-process, 138.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 135.8ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 137.7ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 130.7ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 127.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 128.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.6ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 125.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 127.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.6ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 127.6ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 129.7ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 125.1ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.6ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 129.6ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.1ms pre-process, 126.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.4ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.2ms pre-process, 125.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.6ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.6ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.0ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 127.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.9ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.7ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 127.7ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.7ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.9ms pre-process, 125.1ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 128.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 127.5ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.9ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 127.3ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.8ms inference, 5.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 130.9ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 128.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.4ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.5ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.6ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.1ms pre-process, 128.3ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.9ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 128.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 129.0ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.6ms pre-process, 128.6ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 128.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.2ms pre-process, 127.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.6ms pre-process, 128.6ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 128.7ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.8ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 129.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 128.8ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 128.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 127.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 128.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 127.4ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 128.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.3ms pre-process, 129.8ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 129.1ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.9ms pre-process, 128.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 129.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.3ms pre-process, 130.1ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 128.6ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 129.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 128.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 131.4ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 130.9ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 131.3ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.6ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 130.8ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 130.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 130.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 131.5ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.0ms pre-process, 131.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 130.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.2ms pre-process, 130.1ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 129.8ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 130.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.1ms pre-process, 130.9ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 130.3ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.6ms pre-process, 131.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 133.1ms inference, 9.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 130.8ms inference, 8.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 128.7ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 130.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.8ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.1ms pre-process, 130.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.7ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.2ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.6ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.9ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.9ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.8ms pre-process, 131.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.2ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.8ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.4ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.3ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.7ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.2ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 132.2ms inference, 7.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 132.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.0ms pre-process, 130.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 133.0ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 132.9ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.5ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.0ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.8ms pre-process, 130.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.4ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.3ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 132.9ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 132.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.1ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 133.2ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.7ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.7ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.3ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 4.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.1ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.3ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 134.5ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 133.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.5ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.5ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.5ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.4ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.7ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.4ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.9ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 133.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 133.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.8ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.8ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.8ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.2ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.6ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.3ms pre-process, 133.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 134.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 134.5ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.7ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.5ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 133.9ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.9ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 133.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 133.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.7ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 132.9ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.8ms inference, 8.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.7ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.9ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.8ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 134.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 133.8ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 134.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 5.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 5.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 137.2ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 136.4ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.2ms inference, 5.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 9.0ms pre-process, 134.0ms inference, 7.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.7ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 134.0ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 133.8ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.1ms inference, 6.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 134.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.7ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.6ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.2ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.6ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.0ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.7ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.8ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.8ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 8.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.0ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 6.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 135.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 8.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.8ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 155.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 136.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 7.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.8ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.7ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 135.0ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.8ms inference, 5.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 umbrella\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 8.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 1, 'class_name': 'umbrella', 'xmin': 601.5535278320312, 'ymin': 146.90467834472656, 'xmax': 636.9896850585938, 'ymax': 234.07139587402344, 'conf': 0.7203185558319092}]\n",
      "======================================\n",
      "umbrella\n",
      "4.1941444873809814\n",
      "13.73626830562256 99.26630600762294\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 124.5ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.7ms pre-process, 140.3ms inference, 8.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 142.5ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 142.1ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 139.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.8ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.5ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.8ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.9ms inference, 7.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 umbrella\n",
      "Speed: 4.8ms pre-process, 134.4ms inference, 10.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 1, 'class_name': 'umbrella', 'xmin': 603.5899658203125, 'ymin': 119.42208099365234, 'xmax': 638.5518798828125, 'ymax': 202.3289794921875, 'conf': 0.7709081768989563}]\n",
      "======================================\n",
      "umbrella\n",
      "4.172156810760498\n",
      "13.73626830562256 99.92536703666386\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 124.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 139.4ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 142.0ms inference, 5.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 142.1ms inference, 8.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.7ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 140.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 134.1ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.7ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 toothbrush\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 7.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 0, 'class_name': 'toothbrush', 'xmin': 598.2911987304688, 'ymin': 166.05967712402344, 'xmax': 638.7861938476562, 'ymax': 217.22190856933594, 'conf': 0.8667622804641724}]\n",
      "======================================\n",
      "toothbrush\n",
      "4.2002527713775635\n",
      "13.73626830562256 99.1501301872417\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 124.8ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 139.2ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 142.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 142.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 136.8ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.1ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 138.5ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 135.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 8.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 plate\n",
      "Speed: 5.0ms pre-process, 135.2ms inference, 7.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 7, 'class_name': 'plate', 'xmin': 600.4561157226562, 'ymin': 169.0064239501953, 'xmax': 638.0487670898438, 'ymax': 247.39662170410156, 'conf': 0.818909227848053}]\n",
      "======================================\n",
      "plate\n",
      "4.171630382537842\n",
      "0.2546462322724352 99.18894853149246\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 124.1ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 139.9ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 141.9ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 142.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 135.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 138.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 134.5ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 4.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 134.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 8.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 8, 'class_name': 'oral_liquid_bottle', 'xmin': 618.4279174804688, 'ymin': 172.1416473388672, 'xmax': 640.0, 'ymax': 251.95289611816406, 'conf': 0.8242933750152588}]\n",
      "======================================\n",
      "oral_liquid_bottle\n",
      "4.189791917800903\n",
      "17.927919762007235 99.96910483491087\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 124.2ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 139.2ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 139.7ms inference, 4.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 142.2ms inference, 8.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 134.8ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 135.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 141.4ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 131.3ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 135.2ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.6ms inference, 6.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 8.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 8, 'class_name': 'oral_liquid_bottle', 'xmin': 610.2861328125, 'ymin': 175.77328491210938, 'xmax': 639.43603515625, 'ymax': 260.9559631347656, 'conf': 0.8496139049530029}]\n",
      "======================================\n",
      "oral_liquid_bottle\n",
      "4.193952798843384\n",
      "17.927919762007235 99.47577526914704\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 124.5ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 139.4ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 143.4ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 142.6ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.0ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.2ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 138.2ms inference, 6.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 135.2ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 broken_bones\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 3, 'class_name': 'broken_bones', 'xmin': 606.8881225585938, 'ymin': 220.78170776367188, 'xmax': 637.5602416992188, 'ymax': 293.1629943847656, 'conf': 0.7167961001396179}]\n",
      "======================================\n",
      "broken_bones\n",
      "4.186711549758911\n",
      "0.33703010985760784 98.87929314918648\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 124.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 139.8ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 142.3ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 141.0ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 138.6ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 136.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.2ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 11.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 marker\n",
      "Speed: 4.8ms pre-process, 132.3ms inference, 9.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 9, 'class_name': 'marker', 'xmin': 595.9298095703125, 'ymin': 166.75799560546875, 'xmax': 638.53662109375, 'ymax': 229.118408203125, 'conf': 0.7793115973472595}]\n",
      "======================================\n",
      "marker\n",
      "4.181243419647217\n",
      "17.927919762007235 99.06004813075413\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 124.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 139.2ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 143.0ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 142.3ms inference, 10.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 137.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.1ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.3ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 135.8ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 137.9ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 130.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 7.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.2ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.4ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.1ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.2ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.1ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 disposable_chopsticks\n",
      "Speed: 5.0ms pre-process, 126.3ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "[{'class_id': 10, 'class_name': 'disposable_chopsticks', 'xmin': 572.3989868164062, 'ymin': 181.71865844726562, 'xmax': 637.5092163085938, 'ymax': 263.679443359375, 'conf': 0.7875789403915405}]\n",
      "======================================\n",
      "disposable_chopsticks\n",
      "4.18572211265564\n",
      "0.2546462322724352 97.66183074361393\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 124.3ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 137.5ms inference, 4.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 141.1ms inference, 4.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 139.5ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 139.9ms inference, 11.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 125.3ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 129.3ms inference, 9.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 137.8ms inference, 10.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.3ms inference, 6.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.6ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.3ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.2ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 131.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.8ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 134.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.9ms inference, 5.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.7ms inference, 11.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.6ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.6ms inference, 5.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.1ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.5ms inference, 4.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.4ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.9ms inference, 5.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.7ms inference, 12.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 130.2ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.4ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.7ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.4ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.9ms inference, 6.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.0ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.7ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.6ms inference, 7.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 130.7ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.8ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.7ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.5ms inference, 6.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 130.8ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 130.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.1ms inference, 6.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 130.7ms inference, 9.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.9ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 130.6ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 135.2ms inference, 5.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.7ms inference, 5.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 128.4ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 131.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 132.3ms inference, 7.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 131.8ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 132.5ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.8ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.2ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 130.8ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.9ms inference, 4.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.5ms inference, 5.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 130.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.7ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.0ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 127.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.6ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.2ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 130.9ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 127.2ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.6ms inference, 9.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.7ms inference, 7.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.5ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.1ms inference, 12.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.5ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 131.4ms inference, 8.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.5ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 129.5ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 129.0ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.9ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.3ms pre-process, 131.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.3ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 131.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.8ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.5ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.4ms inference, 6.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.4ms inference, 10.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.1ms inference, 4.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.2ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 130.6ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 130.9ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.0ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.4ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 129.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 125.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.3ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.7ms inference, 4.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.5ms inference, 6.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.2ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.3ms inference, 8.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.9ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.0ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.6ms inference, 6.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.6ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.3ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.6ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.3ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.0ms inference, 4.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.9ms inference, 8.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.6ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.9ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 125.1ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 131.7ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.2ms inference, 5.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 126.8ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.2ms inference, 5.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 130.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.5ms inference, 4.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.6ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.6ms inference, 14.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.1ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 126.0ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.9ms inference, 6.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.1ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.0ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.0ms inference, 8.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.8ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.8ms inference, 6.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 125.9ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.9ms inference, 5.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.2ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.5ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.6ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 130.2ms inference, 9.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.5ms pre-process, 125.6ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.9ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 129.1ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 125.7ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.7ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 133.0ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.7ms inference, 8.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 8.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 134.3ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 128.2ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 125.5ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 124.6ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 126.9ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.0ms inference, 9.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.3ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.4ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.3ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 125.6ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 125.7ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 125.7ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.8ms inference, 5.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.7ms inference, 8.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.4ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 5.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.7ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.8ms pre-process, 133.6ms inference, 8.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.6ms pre-process, 131.2ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 129.1ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 129.4ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 129.4ms inference, 8.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.0ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 129.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 128.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 17.5ms pre-process, 128.2ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 134.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 136.0ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 134.6ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.5ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 135.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 134.0ms inference, 9.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.9ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 131.8ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.6ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.3ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 134.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.5ms pre-process, 134.5ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 134.1ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.2ms pre-process, 129.3ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 129.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.9ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 7.2ms pre-process, 125.7ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 125.9ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 125.7ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.3ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.3ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.4ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 130.1ms inference, 7.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.1ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 131.5ms inference, 4.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 128.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.6ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.4ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 126.3ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.6ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 125.5ms inference, 4.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 125.8ms inference, 9.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.5ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 126.0ms inference, 3.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 125.9ms inference, 3.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.8ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 125.1ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 133.3ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.2ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.5ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.0ms inference, 10.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.2ms inference, 7.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 127.4ms inference, 4.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.1ms inference, 9.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.4ms inference, 8.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.6ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 132.4ms inference, 3.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 131.4ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 137.0ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.3ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.2ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.5ms inference, 10.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 126.7ms inference, 2.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 126.2ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.6ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 157.0ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 128.5ms inference, 8.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 126.3ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.7ms inference, 9.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.5ms pre-process, 140.5ms inference, 5.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 8.2ms pre-process, 154.0ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 9.6ms pre-process, 159.1ms inference, 4.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.4ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 128.0ms inference, 3.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 135.3ms inference, 3.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.9ms pre-process, 153.7ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 133.1ms inference, 9.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.8ms inference, 15.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.9ms pre-process, 147.3ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.7ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 134.7ms inference, 5.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 11.7ms pre-process, 143.6ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n"
     ]
    }
   ],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import torch\n",
    "import time\n",
    "track = True\n",
    "for i in range(100):\n",
    "    if track == False:\n",
    "        break\n",
    "    arm.move([200,0,180])\n",
    "    \n",
    "    cap = cv.VideoCapture(\"/dev/video0\")\n",
    "    while cap.isOpened():\n",
    "        ret,frame = cap.read()\n",
    "        frame,object = vr.image_detect(frame)\n",
    "        if len(object)>0:\n",
    "            print(object)\n",
    "            obj = object[0]\n",
    "            \n",
    "            x = (obj[\"xmax\"]-obj[\"xmin\"])/2+obj[\"xmin\"]\n",
    "            y = (obj[\"ymax\"]-obj[\"ymin\"])/2+obj[\"ymin\"]\n",
    "            if x > 100:\n",
    "                start_t = time.time()\n",
    "                pos = arm.img_point(x,y,11)\n",
    "                obj_id = obj[\"class_id\"]\n",
    "                print(\"======================================\")\n",
    "                print(obj[\"class_name\"])\n",
    "                break\n",
    "        if ret == False:\n",
    "            break\n",
    "        cv.imshow(\"image\",frame)\n",
    "        key = cv.waitKey(50)\n",
    "        if key == 27:\n",
    "            break\n",
    "    if key == 27:\n",
    "            track = False\n",
    "            break\n",
    "    cap.release()\n",
    "    cv.destroyAllWindows()\n",
    "    if track == True:\n",
    "        end_time = time.time()-start_t+4\n",
    "        print(end_time)\n",
    "        # print(f\"=============={pos}===============\")\n",
    "        pos[0] = pos[0] + v_y*end_time\n",
    "        pos[1] = pos[1] + v_x*end_time\n",
    "        pos[2] = pos[2]\n",
    "        # print(f\"=============={pos}===============\")\n",
    "        arm.gate_move([pos[0],pos[1],pos[2]],warehouse(obj_id) , 50)\n",
    "arm.move([200,0,180])\n",
    "cv.destroyAllWindows()\n",
    "cap.release()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 75,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 75,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "arm.move(warehouse(2))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [
    {
     "ename": "SyntaxError",
     "evalue": "unexpected EOF while parsing (<ipython-input-26-4e0492b7db05>, line 1)",
     "output_type": "error",
     "traceback": [
      "\u001b[0;36m  File \u001b[0;32m\"<ipython-input-26-4e0492b7db05>\"\u001b[0;36m, line \u001b[0;32m1\u001b[0m\n\u001b[0;31m    [pos[0]-v_x*end_time,pos[1]-v_y*end_time,pos[2]+5\u001b[0m\n\u001b[0m                                                     ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m unexpected EOF while parsing\n"
     ]
    }
   ],
   "source": [
    "[pos[0]-v_x*end_time,pos[1]-v_y*end_time,pos[2]+5"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([     202.44,      21.249,      5.9895])"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pos"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 29,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "arm.move([202,21,10])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "12.405182075500488"
      ]
     },
     "execution_count": 33,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "end_time*2.4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-2.4106110562994982"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "v_x"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.1ms pre-process, 124.6ms inference, 3.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 138.7ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 141.3ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 132.2ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 142.4ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 128.6ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.5ms pre-process, 141.4ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 124.5ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.1ms pre-process, 134.0ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 127.4ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 137.7ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 126.7ms inference, 4.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 130.5ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 131.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 128.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 140.9ms inference, 5.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.4ms inference, 3.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 135.6ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.7ms pre-process, 140.0ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 134.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 129.1ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 130.6ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 138.0ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 123.9ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.9ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 124.1ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.9ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 125.5ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 137.3ms inference, 3.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.6ms pre-process, 134.1ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 141.5ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.6ms pre-process, 131.4ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 135.9ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.0ms pre-process, 128.9ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 134.3ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 124.3ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.6ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 124.4ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 136.3ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 124.1ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.8ms pre-process, 133.1ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 124.2ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 134.5ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 124.4ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 137.7ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 124.2ms inference, 2.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.7ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 123.9ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 133.6ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 128.0ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 133.8ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 124.2ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 133.9ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 123.9ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 134.1ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.6ms pre-process, 126.7ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.4ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 124.0ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 133.9ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 124.1ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 138.8ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 124.1ms inference, 6.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.9ms pre-process, 133.9ms inference, 8.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 124.1ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.9ms pre-process, 134.1ms inference, 8.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.1ms pre-process, 123.9ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.4ms pre-process, 136.5ms inference, 6.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 124.1ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 133.5ms inference, 6.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 124.2ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.6ms pre-process, 133.7ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 124.3ms inference, 8.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.9ms pre-process, 136.8ms inference, 6.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 123.8ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 133.4ms inference, 8.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 124.0ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.7ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 126.7ms inference, 7.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 134.2ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.9ms inference, 7.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 124.0ms inference, 6.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.3ms pre-process, 133.7ms inference, 11.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 127.7ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 124.0ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 133.8ms inference, 8.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.9ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 125.3ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 133.9ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 124.0ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.7ms pre-process, 133.4ms inference, 6.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 123.8ms inference, 6.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 134.4ms inference, 6.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.8ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 133.7ms inference, 7.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 123.7ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.9ms pre-process, 134.0ms inference, 7.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 124.1ms inference, 8.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.3ms pre-process, 135.6ms inference, 7.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.1ms pre-process, 123.8ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.9ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 124.1ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.7ms pre-process, 133.4ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 126.7ms inference, 8.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 133.7ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 133.5ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 134.3ms inference, 6.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 124.0ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 133.7ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 127.9ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 134.6ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 123.9ms inference, 4.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.5ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 123.9ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 134.8ms inference, 2.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.2ms pre-process, 127.8ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 133.4ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 124.1ms inference, 1.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.9ms pre-process, 134.9ms inference, 2.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 124.4ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.8ms pre-process, 136.6ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 129.6ms inference, 2.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 124.5ms inference, 8.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.4ms pre-process, 133.8ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.4ms pre-process, 134.2ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 125.4ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.8ms pre-process, 134.1ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 123.8ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 134.1ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.5ms pre-process, 123.9ms inference, 7.7ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.4ms pre-process, 133.7ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 127.4ms inference, 6.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 133.9ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.8ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.6ms pre-process, 134.0ms inference, 6.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.9ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.6ms pre-process, 133.6ms inference, 7.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 127.5ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 133.3ms inference, 8.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 124.0ms inference, 7.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.2ms pre-process, 133.8ms inference, 6.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 123.7ms inference, 6.5ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 7.6ms pre-process, 134.2ms inference, 8.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 6.9ms pre-process, 125.4ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.6ms pre-process, 133.5ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.5ms pre-process, 123.8ms inference, 6.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.1ms pre-process, 134.5ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.6ms pre-process, 123.7ms inference, 7.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 131.2ms inference, 10.0ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.3ms pre-process, 124.1ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 133.6ms inference, 7.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.7ms pre-process, 123.9ms inference, 7.8ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 4.8ms pre-process, 134.0ms inference, 6.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 1 oral_liquid_bottle\n",
      "Speed: 5.0ms pre-process, 124.0ms inference, 6.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.1ms pre-process, 135.0ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.4ms pre-process, 124.2ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 6.2ms pre-process, 125.1ms inference, 2.3ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 127.6ms inference, 2.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.3ms pre-process, 125.1ms inference, 2.2ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.8ms pre-process, 125.2ms inference, 3.1ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.5ms pre-process, 126.5ms inference, 2.4ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 4.7ms pre-process, 125.3ms inference, 2.9ms NMS per image at shape (1, 3, 480, 640)\n",
      "image 1/1: 480x640 (no detections)\n",
      "Speed: 5.0ms pre-process, 140.6ms inference, 3.6ms NMS per image at shape (1, 3, 480, 640)\n",
      "________\n"
     ]
    }
   ],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import os\n",
    "import matplotlib.pyplot as plt\n",
    "from vision import transform\n",
    "\n",
    "# lk算法参数\n",
    "lk_params = dict(winSize = (10,10),\n",
    "                 maxLevel = 2,\n",
    "                 criteria = (cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10, 0.03))\n",
    "mtx = np.load(\"../data/camera_param.npz\")['mtx']\n",
    "tf = transform.Transform(mtx)\n",
    "track = False\n",
    "\n",
    "cap = cv.VideoCapture(\"/dev/video0\")\n",
    "\n",
    "while cap.isOpened():\n",
    "    ret,frame = cap.read()\n",
    "    gray = cv.cvtColor(frame,cv.COLOR_BGR2GRAY)\n",
    "    if track is True:\n",
    "        # 跟踪结果\n",
    "        p1, st, err = cv.calcOpticalFlowPyrLK(old_frame,gray,p0,None,**lk_params)\n",
    "        old_frame = np.copy(gray)\n",
    "        # 将在掩膜上绘制跟踪结果\n",
    "        for p in p1:\n",
    "            p = p.ravel()\n",
    "            mask = cv.circle(mask,(int(p[0]),int(p[1])),4,(0,255,255),-1)\n",
    "        # 将掩膜与画面合成\n",
    "        frame = cv.add(frame,mask,0)\n",
    "    else:\n",
    "        # 创建一个和画面尺寸一致的掩膜\n",
    "        mask = np.zeros_like(frame)\n",
    "    frame,object = vr.image_detect(frame)\n",
    "    if len(object) > 0:\n",
    "        obj = object[0]\n",
    "        x = (obj[\"xmax\"]-obj[\"xmin\"])/2+obj[\"xmin\"]\n",
    "        y = (obj[\"ymax\"]-obj[\"ymin\"])/2+obj[\"ymin\"]\n",
    "        if x > 50 and x < 600:\n",
    "        # 前一帧画面\n",
    "            track = True\n",
    "            p0 = np.array([[x,y]]).astype('float32').reshape(-1,1,2)\n",
    "            old_frame = np.copy(gray)\n",
    "    else:\n",
    "        track = False\n",
    "    if ret == False:\n",
    "        break\n",
    "    cv.imshow(\"image\",frame)\n",
    "    key = cv.waitKey(1)\n",
    "    if key == 27:\n",
    "        print(\"________\")\n",
    "        break\n",
    "cap.release()\n",
    "cv.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(720, 1280, 3)\n"
     ]
    }
   ],
   "source": [
    "print(frame.shape)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([    0.32788,    -0.32366,           1])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "np.linalg.inv(mtx)@np.array([459.0278015136719,81.48773193359375,1])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "import cv2 as cv\n",
    "import numpy as np\n",
    "import os\n",
    "import matplotlib.pyplot as plt\n",
    "from vision import transform\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(720, 1280, 3)\n"
     ]
    }
   ],
   "source": [
    "print(frame.shape)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "640.0"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.9"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
